KR101129711B1 - Driving control apparatus for motion mechanism and control method of driving control apparatus - Google Patents

Abstract

When there is an abnormality in the variable valve mechanism for varying the opening characteristic of the engine valve, the power supply to the drive circuit of the variable valve mechanism is stopped, and the control signal to the drive circuit is cleared.

Exercise equipment, variable valve mechanism, valve lift, camshaft, actuator

Description

DRIVING CONTROL APPARATUS FOR MOTION MECHANISM AND CONTROL METHOD OF DRIVING CONTROL APPARATUS}

1 is a configuration diagram of an engine system in an embodiment.

2 is a cross-sectional view (A-A cross section in FIG. 3) showing the variable valve event and the lift mechanism in the embodiment.

3 is a side view of the variable valve event and lift mechanism.

4 is a plan view of the variable valve event and lift mechanism.

5 is a perspective view showing an eccentric cam used for a variable valve event and a lift mechanism.

6 is a cross-sectional view (B-B cross section in FIG. 3) showing a low valve control state of the variable valve event and lift mechanism.

7 is a cross-sectional view (B-B cross section in FIG. 3) showing a high lift control state of the variable valve event and lift mechanism.

8 is a graph showing the lift characteristics of the intake valve in the variable valve event and lift mechanism.

9 is a graph showing the correlation between valve timing and lift amount in a variable valve event and lift mechanism.

10 is a perspective view illustrating a drive mechanism of the control shaft in the variable valve event and lift mechanism.

FIG. 11 is a circuit block diagram showing a first embodiment of a VEL controller.

12 is a flowchart illustrating control of the relay circuit.

13 is a flowchart illustrating feedback control of the variable valve event and lift mechanism.

14 is a flowchart illustrating control when the variable valve event and the lift mechanism fail.

15 is a flowchart showing another example in the case where the variable valve event and the lift mechanism have failed.

Fig. 16 is a circuit block diagram showing a second embodiment of the VEL controller.

17 is a flowchart showing control by the VEL controller shown in FIG.

FIG. 18 is a flowchart showing control by the VEL controller shown in FIG.

Fig. 19 is a circuit block diagram showing a third embodiment of the VEL controller.

20 is a flowchart for diagnosing whether there is an abnormality in the feedback system of the variable valve event and the lift mechanism.

21 is a flowchart illustrating transient current diagnosis in a DC servo motor.

22 is a flowchart illustrating servo system diagnosis in a DC servo motor.

Description of the Related Art [0002]

16: control shaft 101: engine

104: electronically controlled throttle 105: intake valve

107: exhaust valve 112: VEL mechanism (exercise mechanism)

113: VEL controller 114: engine control module (ECM)

121: DC servo motor (electric actuator)

127: angle sensor 302: CPU

305: motor drive circuit 306: relay circuit

307: relay drive circuit 308: current detection circuit

311: temperature sensor

The present invention relates to a drive control device and a drive control method for an exercise mechanism operated by an electric actuator, such as a variable valve lift mechanism for varying the lift amount of an engine valve, for example.

Japanese Laid-Open Patent Publication No. 2001-254637 discloses a drive control device for a variable valve lift mechanism for varying the lift amount of an engine valve.

The drive control device diagnoses whether there is an abnormality in the variable valve lift mechanism and stops supplying power to the oil control valve (electric actuator) of the variable valve lift mechanism when it is detected that there is an error in the variable valve lift mechanism. To minimize the lift on the engine valve.

However, when it is detected that there is an abnormality in the variable valve lift mechanism, there is a case where the lift amount of the engine valve cannot be fixed to the minimum even if a power supply cutoff command to the electric actuator is output.

Moreover, in the case of a variable valve lift mechanism using the motor as an electric actuator, the motor needs to generate a large torque against the cam reaction force. Therefore, if the power supply to the motor continues for a very long time due to an abnormality in the driving circuit, the motor fails.

Therefore, it is an object of the present invention to reliably stop the driving of an electric actuator in the event of an abnormality in the exercise mechanism operated by the electric actuator.

In order to achieve the above object, according to the present invention, the power supply to the drive circuit of the electric actuator is stopped when it is detected that there is an abnormality in the exercise device.

Other objects and features of the present invention will be understood from the following description with reference to the accompanying drawings.

In FIG. 1, the electronically controlled throttle 104 is provided in the intake pipe 102 of the engine 101 for automobiles.

The electronically controlled throttle 104 is a device for opening and closing the throttle valve (intake throttle valve) 103b by the throttle motor 103a (actuator).

At this time, air is sucked into the combustion chamber 106 of the engine 101 via the electronic control throttle 104 and the intake valve 105.

The combusted exhaust gas is discharged from the combustion chamber 106 through the exhaust valve 107, and then purified by the front catalyst 108 and the rear catalyst 109 and discharged into the atmosphere.

The exhaust valve 107 is driven by the cam 111 supported on the shaft by the exhaust side camshaft 110 to maintain a predetermined lift amount, a predetermined valve operating angle and a predetermined valve timing.

On the other hand, a variable valve event and lift (VEL) mechanism 112 is provided which continuously varies the lift amount of the intake valve 105 with its operating angle.

The above-described VEL mechanism 112 corresponds to the exercise mechanism in this embodiment.

As a control unit, an engine control module (ECM) 114 and a VEL controller 113 are provided.

The ECM 114 and the VEL controller 113 can communicate with each other.

The VEL mechanism 112 is controlled by the VEL controller 113.

The ECM 114 is input with detection signals from various sensors that detect driving conditions of the engine and the vehicle.

As various sensors, an air flow meter 115 for detecting an intake air amount of an engine, an accelerator device 116 for detecting an opening degree of an accelerator, and a crank angle sensor for receiving a crank rotation signal from the crankshaft 120 ( 117, the throttle sensor 118 which detects the opening degree TVO of the throttle valve 103b, and the water temperature sensor 119 which detects the cooling water temperature of the engine 101 are provided.

In addition, the fuel injection valve 131 is provided in the intake port 130 on the upstream side of the intake valve 105.

The fuel injection valve 131 is driven open based on the injection pulse signal from the ECM 114 to inject an amount of fuel in proportion to the injection pulse width (valve opening time) of the injection pulse signal.

2 to 4 show the structure of the VEL mechanism 112 in detail.

The VEL mechanism 112 shown in FIGS. 2 to 4 has a hollow camshaft rotatably supported by a pair of intake valves 104 and 105 and a cam bearing 14 of the cylinder head 11. 13, two eccentric cams 15 and 15 (drive cams), which are rotating cams supported on the shaft by the camshaft 13, supported by the cam bearing 14 and parallel to the upper position of the camshaft 13 Control shaft 16, a pair of rocker arms 18, 18, which are pivotably supported by control shaft 16 via control cam 17, a valve lifter 19 And a pair of independent swing cams 20, 20 disposed at the upper end portions of the intake valves 105, 105 via the air inlet valves 19 and 19, respectively.

The eccentric cams 15, 15 are connected to the rocker arms 18, 18 by link arms 25, 25, respectively. The rocker arms 18, 18 are linked to the oscillation cams 20, 20 by link members 26, 26.

The rocker arms 18, 18, link arms 25, 25 and link members 26, 26 constitute a delivery mechanism.

Each of the eccentric cams 15 is formed in a substantially ring shape, as shown in FIG. 5, and has a small diameter cam body 15a and a flange portion integrally formed on the outer surface of the cam body 15a. 15b). The camshaft insertion hole 15c penetrates the inside of the eccentric cam 15 in the axial direction, and the central axis X of the cam body 15a is a predetermined distance from the central axis Y of the camshaft 13. As eccentric as

The eccentric cams 15 and 15 are press-fitted to the camshaft 13 through the camshaft insertion holes 15c on both outer sides of the valve lifters 19 and 19 so as not to interfere with the valve lifters 19 and 19, respectively. .

Each rocker arm 18 is formed to be bent into a substantially crank shape as shown in FIG. 4, so that the central base 18a of the rocker arm 18 is rotatable by the control cam 17. Supported.

The pin hole 18d is formed through the one end 18b which protrudes from the outer end of the base 18a. The pin 21 connected with the tip end of the link arm 25 is pushed into the pin hole 18d. The pin hole 18e is formed through the other end 18c which protrudes from the inner end of the base 18a. A pin 28 connected to one end 26a (to be described later) of each link member 26 is press-fitted into the pin hole 18e.

The control cam 17 is formed in a cylindrical shape and fixed to the outer circumference of the control shaft 16. As shown in FIG. 2, the position of the central axis P1 of the control cam 17 is eccentric by α from the position of the central axis P2 of the control shaft 16.

The swing cam 20 is formed in a substantially lateral U-shape as shown in Figs. 2, 6, and 7, and the support hole 22a has a substantially ring-shaped base end 22 formed therein. It is formed through. The cam shaft 13 is inserted into the support hole 22a and rotatably supported. In addition, the pin hole 23a is formed through the end 23 located at the other end 18c of the rocker arm 18.

On the lower surface of the swing cam 20, a cam surface extending in an arc shape from the origin surface 24a and the origin surface 24a on the proximal end 22 side to the edge of the end 23 ( 24b) is formed. The origin surface 24a and the cam surface 24b contact a predetermined position of the upper surface of each valve lifter 19 corresponding to the swing position of the swing cam 20.

That is, according to the valve lift characteristic shown in FIG. 8, that is, the operating characteristic of the valve, as shown in FIG. 2, the predetermined angle range θ1 of the origin surface 24a is a base circle section. The predetermined angular range θ2 from the base circle section θ1 of the cam surface 24b is a so-called ramp section, and the predetermined angular range θ3 from the ramp section θ2 of the cam surface 24b is lifted. (lift) section.

The link arm 25 includes a ring-shaped base 25a and a protruding end 25b formed to protrude on a predetermined position of the outer surface of the base 25a. In the central position of the base 25a, a fitting hole 25c is formed at the central position of the base 25a so as to be rotatable on the outer surface of the cam body 15a of the eccentric cam 15. As shown in FIG. In addition, a pin hole 25d through which the pin 21 is rotatably inserted is formed through the protruding end 25b.

The link member 26 is formed in a linear shape of a predetermined length, and the pin insertion holes 26c and 26d are formed to penetrate all of the circular ends 26a and 26b, respectively. The end portions of the pins 28 and 29 press-fitted into the pin holes 18d of the other end 18c of the rocker arm 18 and the pin holes 23a of the end 23 of the swing cam 20 are pin insertion holes 26c. , 26d) is rotatably inserted.

Snap rings 30, 31, 32 are provided at each of the ends of the pins 21, 28, 29 to limit the axial movement of the link arm 25 and the link member 26.

In the above configuration, depending on the positional relationship between the central axis P2 of the control shaft 16 and the central axis P1 of the control cam 17, as shown in FIGS. 6 and 7, the amount of valve lift is increased. The position of the central axis P2 of the control shaft 16 is changed with respect to the central axis P1 of the control cam 17 by rotationally driving the control shaft 16.

As shown in FIG. 10, the control shaft 16 is rotationally driven by the DC servo motor (actuator) 121 within a predetermined rotational angle range limited by a stopper. By varying the rotation angle of the control shaft 16 by the actuator 121, the lift amount and the operating angle of each of the intake valves 105 and 105 are within a variable range between the maximum valve lift amount and the minimum valve lift amount limited by the stopper. Change continuously (see FIG. 9).

In FIG. 10, the DC servo motor 121 is arranged such that its rotating shaft is parallel to the control shaft 16, and the bevel gear 122 is supported axially at the tip of the rotating shaft.

On the other hand, a pair of stays 123a and 123b are fixed to the tip of the rotating shaft. The nut 124 is swingably supported around an axis parallel to the control shaft 16 connecting the tip ends of the pair of stays 123a and 123b.

A bevel gear 126 meshing with the bevel gear 122 is axially supported at the tip of the threaded rod 125 that engages the nut 124. The screw rod 125 rotates by the rotation of the DC servo motor 121, and the position of the nut 124 engaging with the screw rod 125 is displaced in the axial direction of the screw rod 125, so that the control shaft 16 ) To rotate.

Here, the valve lift amount decreases as the position of the nut 124 approaches the bevel gear 126, and the valve lift amount increases as the position of the nut 124 moves away from the bevel gear 126.

Also, a potentiometer type angle sensor 127 for detecting the angle of the control shaft 16 is disposed at the tip of the control shaft 16 as shown in FIG. The VEL controller 113 feeds back control to the DC servo motor 12 so that the actual angle detected by the angle sensor 127 coincides with the target angle (a value corresponding to the target lift amount).

The stopper member 128 is formed to protrude from the outer circumference of the control shaft 16.

Rotation angle of the control shaft 16 (valve lift) when the stopper member 128 contacts the receiving member (not shown in the drawing) on the fixed side in both the direction of increasing the valve lift amount and the direction of decreasing the valve lift amount. Positive variable range).

11 shows the configuration of the VEL controller 113.

The battery voltage is supplied to the VEL controller 113, and power is supplied to the CPU 302 through the power supply circuit 301.

In addition, the voltage of the power supply circuit 301 is supplied to the angle sensors 127a and 127b via the power supply buffer circuit 303.

The output signals from the angle sensors 127a and 127b are read by the CPU 302 via the input circuits 304a and 304b.

In addition, a motor driving circuit 305 for driving the DC servo motor 121 is disposed.

The motor driving circuit 305 turns on / off the driving power supply for the DC servo motor 121 based on the DC current level of the control signal (pulse width modulated signal (PWM)) output from the CPU 302. It is a PWM type drive circuit which changes the pulse width of the pulse signal, and the PWM type drive circuit controls the average voltage of the DC servo motor 121 by varying the ON duty of a pulse signal.

In order to drive the DC servo motor 121 in the forward rotation direction and the reverse rotation direction, in addition to the pulse width modulation signal PWM, control signals for forward rotation and reverse rotation from the CPU 302 to the motor drive circuit 305. Is entered.

The battery voltage is supplied to the motor drive circuit 305 via the relay circuit 306, and the relay circuit 306 is turned on / off by the relay drive circuit 307 controlled based on the port output from the CPU 302. OFF.

In addition, a current detection circuit 308 for detecting a current of the DC servo motor 121 is arranged.

Furthermore, a communication circuit 309 is provided in the VEL controller 113 for the communication between the VEL controller 113 and the ECM 114.

Next, drive control and fail-safe control of the VEL mechanism 112 (DC servo motor 121) by the VEL controller 113 will be described according to the flowcharts of FIGS. 12 to 14.

12 shows control of the relay circuit 306. In step S1, it is determined whether the driving permission condition of the VEL mechanism 112 is satisfied.

If the permission condition is satisfied, the flow advances to step S2 to set the relay drive output port of the CPU 302. Accordingly, the relay circuit 306 is turned on so that the battery voltage is supplied to the motor drive circuit 305.

On the other hand, if the permission condition is not satisfied, the flow advances to step S3 to clear the relay drive output port. As a result, the relay circuit 306 is turned off so that the battery voltage supply to the motor drive circuit 305 is cut off.

The flowchart of FIG. 13 shows feedback control of the DC servo motor 121 (electric actuator). In step S11, it is determined whether the driving permission condition of the VEL mechanism 112 is satisfied.

If the permission condition is not satisfied, the flow advances to step S12 to set the pulse width modulation signal PWM to 0 and stop the DC servo motor 121.

On the other hand, when the permission condition is satisfied, the flow advances to step S13 to calculate the target angle (target VEL angle) of the control shaft 16.

In addition, the VEL controller 113 may read target angle data calculated by the ECM 114.

In step S14, the actual angle of the control shaft 16 is detected based on the output signal from the angle sensor 127.

In step S15, the pitback operation amount is calculated based on the deviation between the target angle and the actual angle.

In step S16, the pulse width modulation signal PWM to be output to the motor drive circuit 305 is set based on the calculation result of step S15.

The flowchart of FIG. 14 shows failure safety control when the VEL mechanism 112 is faulty.

In step S21, it is determined whether the VEL mechanism 112 has been judged to have failed.

The failure diagnosis of the VEL mechanism 112 is performed based on the deviation between the target angle and the actual angle, the current of the DC servo motor detected by the current detection circuit 308, the driving duty of the DC servo motor, and the like.

If it is determined in step S21 that the failure of the VEL mechanism 112 is determined, the flow advances to step S22 to clear the relay drive output port of the CPU 302. As a result, the relay circuit 306 is turned off so that the battery voltage (power supply voltage) supply to the motor drive circuit 305 is cut off.

Furthermore, in the next step S23, the operation of the DC servomotor 121 is prevented by setting the DC current level of the pulse width modulation signal PWM to 0 so as not to generate a pulse signal (the ON signal of the DC servomotor 121). Allow it to stop.

15 shows another embodiment of the failsafe control.

In step S31, it is determined whether the VEL mechanism 112 has been judged to have failed.

If it is determined in step S21 that the failure of the VEL mechanism 112 is determined, the flow advances to step S32 to set the DC current level of the pulse width modulation signal PWM to zero.

Furthermore, in the next step S33, the current IBLE of the DC servo motor 121 detected by the current detection circuit 308 is read.

Next, in step S34, it is determined whether the current IVEL is equal to or greater than the reference current IVELFS #.

Here, if the current IVEL of the DC servo motor 121 is equal to or greater than the reference current IVELFS #, the process proceeds to step S35 to determine whether there is an abnormality in the motor drive circuit 305.

That is, since the pulse width modulated signal PWM has become zero in step S32, the current IVEL of the DC servomotor 121 should be zero in the normal situation. Therefore, when the current IVEL is greater than or equal to the reference current IVELFS #, the motor driving circuit 305 supplies a driving current not corresponding to the pulse width modulation signal PWM to the DC servo motor 121.

If it is determined in step S35 that there is an abnormality in the motor drive circuit 305, in the next step S36, the relay drive output port of the CPU 302 is cleared and the relay circuit 306 is turned OFF, so that the motor drive circuit 305 is turned off. The supply of battery voltage (power supply voltage) to the furnace is cut off. As a result, the current IVEL of the DC servo motor 121 becomes 0 so that the driving of the DC servo motor 121 can be reliably stopped.

16 shows a second embodiment of the VEL controller 113.

The VEL controller 113 of FIG. 16 has a first motor drive circuit 305a (main drive circuit) and a second motor drive circuit 305b (sub drive circuit) provided as a motor drive circuit. It is different from the VEL controller 113.

Both the first motor driving circuit 305a and the second motor driving circuit 305b are supplied with a battery voltage via the relay circuit 306, and only the first motor driving circuit 305a is provided with the current detection circuit 308. Is installed.

17 and 18 show failure safety control by the VEL controller 113 shown in FIG.

In the flowchart of FIG. 17, the target angle (target VEL angle) of the control shaft 16 is calculated in step S41.

The VEL controller 113 may read target angle data calculated by the ECM 114.

In step S42, the actual angle of the control shaft 16 is detected based on the output signal from the angle sensor 127.

In step 43, the feedback manipulated variable is calculated based on the deviation between the target angle and the actual angle.

In step 44, it is determined whether the failure of the VEL mechanism 112 is determined.

At this time, if it is determined that the failure of the VEL mechanism 112 is not determined, the flow advances to step S45 to output the pulse width modulation signal PWM in order to drive the DC servomotor 121 to the first motor drive circuit 305a. Set it.

 On the other hand, if it is determined that the failure of the VEL mechanism 112 is determined, the flow advances to step S46 to set the output of the pulse width modulation signal PWM in order to drive the DC servo motor 121 to the second motor drive circuit 305b. do.

If the failure determination of the VEL mechanism 112 is caused by the failure of the first drive motor circuit 305a, the failure is caused by switching the drive circuit from the first drive motor circuit 305a to the second drive motor circuit 305b. The state is resolved.

In the flowchart of FIG. 18, on the other hand, in step S51, it is determined whether the DC servo motor 112 is driven by the second drive motor circuit 305b.

When the DC servo motor 121 is driven by the second drive motor circuit 305b, the flow proceeds to step S52.

In step 52, it is determined whether the failure of the VEL mechanism 112 is determined.

If it is determined that the failure of the VEL mechanism 112 is not determined, the failure of the VEL mechanism 112 is eliminated by switching the drive circuit from the first drive motor circuit 305a to the second drive motor circuit 305b.

That is, when the failure determination of the VEL mechanism 112 is caused by the failure of the first drive motor circuit 305a, the drive circuit of the DC servomotor 121 is normally operated by using the second drive motor circuit 305b. Can be executed. Therefore, in order to continue the drive control state using the second drive motor circuit 305b, this control routine is terminated at this stage.

On the other hand, in the case where it is determined that the failure of the VEL mechanism 112 is determined, the driving circuit does not cause the failure of the VEL mechanism 12. Therefore, the flow advances to the next step S53 to determine that the DC servomotor 121 (electric actuator) itself is faulty.

When it is determined in step 53 that the DC servomotor 121 (electric actuator) has failed, the output of the pulse width modulation signal PWM is zero in the next step S54.

Further, in step 55, the relay drive output port of the CPU 302 is cleared so that power supply to the first motor drive circuit 305a and the second motor drive circuit 305b is cut off, thereby driving the DC servomotor 121. To stop.

19 shows a third embodiment of the VEL controller 113.

In the third embodiment, the engine 101 is a V-type engine having a right bank and a left bank, and the VEL mechanism 112 is provided on each bank.

The VEL mechanism 112 on the right bank is provided with angle sensors 127a and 127b as angle sensors for detecting the angle of the control shaft 116, and the outputs from the angle sensors 127a and 127b are respectively input circuits 304a, Input to CPU 302 via 304b).

On the other hand, the VEL mechanism 112 on the left bank is provided with angle sensors 127c and 127d as angle sensors for detecting the angle of the control shaft 116, and the outputs from the angle sensors 127c and 127d are respectively input circuits ( Inputs are made to the CPU 302 via 304c and 304d.

In addition, the VEL controller 113 shown in FIG. 19 is the right bank motor drive circuit 305c and the left bank which drive the DC servo motor 121a (electric actuator) of the VEL mechanism 112 for the right bank RH. And a left bank motor driving circuit 305d for driving the DC servo motor 121b (electric actuator) of the VEL mechanism 112 for LH.

Both the right bank motor driving circuit 305c and the left bank motor driving circuit 305d are supplied with a battery voltage via the relay circuit 306, and current detection circuits 308a and 308b are provided.

In the above-described VEL controller 113, the control routine shown in the flowchart of FIG. 13 is executed for each bank.

When the control routine shown in the flowchart of Fig. 14 is executed for each bank, the relay circuit 306 is cut off when it is determined that the VEL mechanism in the left bank or the VEL mechanism in the right bank is faulty. As a result, power supply to both the right bank motor driving circuit 305c and the left bank motor driving circuit 305d is cut off, thereby avoiding an output difference between the two banks.

20 to 22 show examples of the failure determination method of the VEL mechanism 112, respectively.

The flowchart of FIG. 20 illustrates a process for determining a failure of the feedback system in the VEL mechanism 112.

First, the target angle of the control shaft 16 is calculated in step S61, and the actual angle of the control shaft 16 is detected in step S62.

Next, in step S63, the deviation between the target angle and the actual angle is calculated.

In step S64, the deviation is integrated.

Next, in step S65, it is determined whether the integrated value of the deviations is within a predetermined range.

Here, when the integrated value of the deviation is within the predetermined range, it is determined that the VEL mechanism 112 is normally feedback controlled, and the control routine is terminated at this step.

On the other hand, if the integrated value of the deviation is outside the predetermined range, the flow advances to step S66 to determine that there is an abnormality in the feedback system.

The flowchart of FIG. 21 shows the process of determining the transient current of the DC servo motor 121 (electric actuator).

First, in step S71, the drive current IVEL of the DC servo motor 121 (electric actuator) is read.

In step S72, the average value IVELave of the driving current IVEL is calculated.

In step S73, it is determined whether or not the drive current VIVEL is greater than or equal to the threshold value A. FIG.

Here, if the drive current IVEL is equal to or higher than the threshold value A, the flow advances to step S77 to determine that the transient current is generated.

On the other hand, if the drive current IVEL is less than the threshold value A, the process proceeds to step S74.

In step S74, it is determined whether the average value IVELave is greater than or equal to the threshold value B. FIG.

Then, when the average value IVELave is greater than or equal to the threshold value B, the flow advances to step S75 to set a timer to measure the period of time when the average value IVELave is greater than or equal to the threshold value B.

In step S76, it is determined whether or not the measurement time t by the timer is equal to or greater than the predetermined time C.

When the measurement time t by the timer is equal to or greater than the predetermined time C, that is, when the state where the average value IVELave is equal to or greater than the threshold value B continues for more than the predetermined time C, the flow proceeds to step S77 to determine the transient current. Judging by occurrence.

The flowchart of FIG. 22 shows the process of determining the abnormality of a servo system.

First, in step S81, the ON duty VELDTY of the DC servo motor 121 is read.

In step S82, it is determined whether the ON duty VELDTY of the DC servomotor 121 is equal to or greater than the predetermined value D.

When the ON duty VELDTY is greater than or equal to the predetermined value D, the flow advances to step S83 to set a timer to measure the period of time when the ON duty VELDTY is greater than or equal to the predetermined value D.

In the next step S84, it is determined whether or not the measurement time t by the timer is equal to or greater than the predetermined time E.

If the measurement time t by the timer is equal to or greater than the predetermined time E, the flow advances to step S85 to determine an abnormality of the servo system in the VEL mechanism 112.

In the above embodiments, the VEL mechanism 112 for varying the valve lift amount of the engine is an example of an exercise mechanism. However, it is clear that the exercise device is not limited to the VEL device 112.

The present invention includes all contents of Japanese Patent Application No. 2004-026220, filed February 3, 2004, which is claimed as priority.

Although only a few selected embodiments have been selected to illustrate the invention, it will be apparent to those skilled in the art that various changes and modifications can be made in the present invention without departing from the scope of the invention as defined in the appended claims.

Furthermore, the foregoing embodiments according to the present invention have been described only for the purpose of description, and are not intended to limit the present invention as defined by the appended claims and their equivalents.

According to the control device and control method of the exercise device of the present invention, when it is detected that there is an abnormality in the exercise device, the power supply to the drive circuit of the electric actuator can be stopped to reliably stop the driving of the electric actuator. As a result, when the exercise mechanism is a VEL mechanism that variably controls the lift amount of the engine valve by the electric actuator, even if there is an abnormality in the VEL mechanism, damage to the electric actuator can be avoided by reliably interrupting the power supply to the drive circuit. And the valve lift amount can be fixed securely to the safe side. On the other hand, when there are a plurality of exercise devices, if any of them is detected as abnormal, the power supply to the electric actuators not only to the abnormal exercise device but also to the other exercise devices is cut off, so that each of the electric actuators is different. It can be easily prevented from becoming an operating state.

Claims (24)

An exercise mechanism for varying operating characteristics of an engine valve provided in the engine, An electric actuator for operating the exercise device; A driving circuit for driving the electric actuator; A control unit for outputting a control signal to the drive circuit; The control unit, Detect whether there is an abnormality in the exercise equipment, If it is detected that there is an abnormality in the exercise mechanism, the current flowing through the electric actuator is stopped by clearing the control signal for the drive circuit, And a power supply to the drive circuit is stopped when the current of the electric actuator is greater than or equal to a predetermined value after the control signal is cleared. delete delete delete delete The method of claim 1, The control unit feedback-controls a control signal output to the drive circuit to match the control amount of the exercise device to a target value, and if the integral value of the control deviation in the feedback control is out of a predetermined range, the exercise device has an abnormality. And a drive control device for the exercise device. The method of claim 1, And said control unit determines that there is an abnormality in said exercise mechanism when the electric current of said electric actuator exceeds a limit current and when the state in which the average current of said electric actuator exceeds an average limit current continues for a predetermined time period. Drive control device of the exercise device. The method of claim 1, The driving circuit is a PWM driving circuit for varying the pulse width of the pulse signal for turning on / off the driving power of the electric actuator based on the DC current level of the control signal output from the control unit, And the control unit determines that there is an abnormality in the exercise device when the state in which the ON duty of the pulse signal exceeds a predetermined value continues for a predetermined time. An exercise mechanism for varying operating characteristics of an engine valve provided in the engine, An electric actuator for operating the exercise device; A main driving circuit and a sub driving circuit for driving the electric actuator, A control unit for outputting a control signal to the main driving circuit and the sub driving circuit; The control unit, Detect whether there is an abnormality in the exercise equipment, When it is detected that there is an abnormality in the exercise mechanism, the driving circuit for driving the electric actuator is switched from the main driving circuit to the sub driving circuit, When it is detected that there is an abnormality in the exercise mechanism in the state where the electric actuator is driven by the sub-drive circuit, it is determined that there is an error in the electric actuator, When it is determined that there is an error in the electric actuator, the power supply to the main drive circuit and the sub drive circuit is stopped, When it is detected that the exercise mechanism is normal in the state where the electric actuator is driven by the sub-drive circuit, it is determined that there is an error in the main drive circuit. And if it is determined that there is an abnormality in the main drive circuit, driving of the electric actuator by the sub-drive circuit is continued. delete 10. The method of claim 9, When the control unit detects that there is an abnormality in the electric actuator, the control unit stops the power supply to the main drive circuit and the sub drive circuit, and clears the control signals for the main drive circuit and the sub drive circuit. A drive control device for an exercise device. delete delete In the control method of the exercise machine drive apparatus provided with the exercise mechanism for changing the operation characteristic of the engine valve with which the engine was equipped, the electric actuator which operates the said exercise mechanism, and the drive circuit which drives the said electric actuator, Detecting whether there is an abnormality in the exercise device; Stopping the current flowing through the electric actuator by clearing a control signal to the drive circuit when detecting that there is an abnormality in the exercise mechanism; And stopping the supply of power to the drive circuit if the current of the electric actuator is greater than or equal to a predetermined value after the control signal is cleared. delete delete delete delete The method of claim 14, Feedback control of a control signal output to the drive circuit to match a control amount of the exercise device to a target value,  Detecting whether there is an abnormality in the exercise device, the exercise machine drive device control characterized in that it comprises the step of determining that there is an error in the exercise device when the integral value of the control deviation in the feedback control is out of a predetermined range. Way. The method of claim 14, Detecting whether there is an abnormality in the exercise device, Determining that the exercise device has an error when the electric current of the electric actuator exceeds a limit current; And determining that there is an abnormality in the exercise device when the state in which the average current of the electric actuator exceeds the average limit current continues for a predetermined time. The method of claim 14, The driving circuit is a PWM driving circuit for varying the pulse width of the pulse signal for turning on / off the driving power of the electric actuator based on the DC current level of the control signal output from the control unit, Detecting whether there is an abnormality in the exercise device, Detecting whether the state in which the ON duty of the pulse signal exceeds a predetermined value continues for a predetermined time;  Measuring a time for which the on duty of the pulse signal continues to exceed a predetermined value; Determining whether the duration time has reached a predetermined time; And determining that there is an abnormality in the exercise device when the duration time reaches a predetermined time. The control method of the exercise machine drive apparatus provided with the exercise mechanism for changing the operation characteristic of the engine valve provided in the engine, the electric actuator which operates the said exercise mechanism, the main drive circuit and the sub drive circuit which drive the said electric actuator. To Detecting whether there is an abnormality in the exercise device; Switching the driving circuit for driving the electric actuator from the main driving circuit to the sub driving circuit when detecting that there is an abnormality in the exercise mechanism; Determining that there is an abnormality in the electric actuator when detecting that there is an abnormality in the exercise mechanism in the state where the electric actuator is driven by the sub-drive circuit; Stopping the supply of power to the main drive circuit and the sub drive circuit when it is determined that there is an error in the electric actuator; When it is detected that the drive mechanism is normal while the electric actuator is driven by the sub-drive circuit, determining that there is an error in the main drive circuit; And if the main drive circuit determines that there is an error, continuing driving of the electric actuator by the sub-drive circuit. delete The method of claim 22, When determining that there is an abnormality in the electric actuator, stopping the power supply to the main drive circuit and the sub drive circuit, and further clearing control signals to the main drive circuit and the sub drive circuit. The exercise apparatus drive device control method characterized in that.

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